diff --git a/.github/workflows/PR-4.x.yaml b/.github/workflows/PR-4.x.yaml
index 250b5e157..bd90f16ca 100644
--- a/.github/workflows/PR-4.x.yaml
+++ b/.github/workflows/PR-4.x.yaml
@@ -26,3 +26,6 @@ jobs:
 
   macOS-X64:
     uses: opencv/ci-gha-workflow/.github/workflows/OCV-Contrib-PR-4.x-macOS-x86_64.yaml@main
+
+  Linux-RISC-V-Clang:
+    uses: opencv/ci-gha-workflow/.github/workflows/OCV-Contrib-PR-4.x-RISCV.yaml@main
diff --git a/modules/aruco/src/charuco.cpp b/modules/aruco/src/charuco.cpp
index acf691a28..42dbd0d4a 100644
--- a/modules/aruco/src/charuco.cpp
+++ b/modules/aruco/src/charuco.cpp
@@ -39,7 +39,7 @@ void detectCharucoDiamond(InputArray _image, InputArrayOfArrays _markerCorners,
     vector<Mat> markerCorners;
     _markerCorners.getMatVector(markerCorners);
 
-    detector.detectBoard(_image, _diamondCorners, _diamondIds, markerCorners, _markerIds.getMat());
+    detector.detectDiamonds(_image, _diamondCorners, _diamondIds, markerCorners, _markerIds.getMat());
 }
 
 
diff --git a/modules/rgbd/src/tsdf_functions.hpp b/modules/rgbd/src/tsdf_functions.hpp
index 1031474d0..c763f9275 100644
--- a/modules/rgbd/src/tsdf_functions.hpp
+++ b/modules/rgbd/src/tsdf_functions.hpp
@@ -16,11 +16,13 @@ namespace cv
 namespace kinfu
 {
 
+#if USE_INTRINSICS
 inline v_float32x4 tsdfToFloat_INTR(const v_int32x4& num)
 {
     v_float32x4 num128 = v_setall_f32(-1.f / 128.f);
     return v_cvt_f32(num) * num128;
 }
+#endif
 
 inline TsdfType floatToTsdf(float num)
 {